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<div class="title">octree2buf_base.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_OCTREE_2BUF_BASE_HPP</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_OCTREE_2BUF_BASE_HPP</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;{</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  <span class="keyword">namespace </span>octree</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  {</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt;</div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aeea7ecfd6ebe82e93d3c7bb869355502">   48</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aeea7ecfd6ebe82e93d3c7bb869355502">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::Octree2BufBase</a> () :</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;      leaf_count_ (0), </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      branch_count_ (1),</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;      root_node_ (new <a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> ()),</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;      depth_mask_ (0), </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      max_key_ (),</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      buffer_selector_ (0),</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      tree_dirty_flag_ (false),</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      octree_depth_ (0),</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      dynamic_depth_enabled_(false)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    }</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#af38bf67eaa51c8bdfc3aafef8427bb43">   63</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#af38bf67eaa51c8bdfc3aafef8427bb43">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::~Octree2BufBase</a> ()</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="comment">// deallocate tree structure</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      deleteTree ();</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">delete</span> (root_node_);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a70b703457f743d2cac00e30663c27bb1">   72</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a70b703457f743d2cac00e30663c27bb1">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::setMaxVoxelIndex</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_voxel_index_arg)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> treeDepth;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      assert (max_voxel_index_arg &gt; 0);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="comment">// tree depth == amount of bits of maxVoxels</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      treeDepth = std::max ((std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (OctreeKey::maxDepth),</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                                       <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::ceil (Log2 (max_voxel_index_arg))))),</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                                       <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (0));</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="comment">// define depthMask_ by setting a single bit to 1 at bit position == tree depth</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      depth_mask_ = (1 &lt;&lt; (treeDepth - 1));</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aaca1aaba9d9413ecf37f66616ebf5ca2">   89</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aaca1aaba9d9413ecf37f66616ebf5ca2">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::setTreeDepth</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_arg)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      assert (depth_arg &gt; 0);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="comment">// set octree depth</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      octree_depth_ = depth_arg;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="comment">// define depthMask_ by setting a single bit to 1 at bit position == tree depth</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      depth_mask_ = (1 &lt;&lt; (depth_arg - 1));</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="comment">// define max. keys</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      max_key_.x = max_key_.y = max_key_.z = (1 &lt;&lt; depth_arg) - 1;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;     <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt;  LeafContainerT*</div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3e5834225c6ed85452fbad295497ffa5">  105</a></span>&#160;     <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3e5834225c6ed85452fbad295497ffa5">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::findLeaf</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_x_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_y_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_z_arg)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;     {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;       <span class="comment">// generate key</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;       <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;       <span class="comment">// check if key exist in octree</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;       <span class="keywordflow">return</span> ( findLeaf (key));</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;     }</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;     <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt;  LeafContainerT*</div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2b59144bb291c178879513c2c5f5283c">  116</a></span>&#160;     <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2b59144bb291c178879513c2c5f5283c">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::createLeaf</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_x_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_y_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_z_arg)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;     {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;       <span class="comment">// generate key</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;       <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;       <span class="comment">// check if key exist in octree</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;       <span class="keywordflow">return</span> ( createLeaf (key));</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;     }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4bdd0fdf775f73746e15f15463051c07">  127</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4bdd0fdf775f73746e15f15463051c07">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::existLeaf</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_x_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_y_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_z_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="comment">// generate key</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="comment">// check if key exist in octree</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordflow">return</span> existLeaf (key);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ad52ba45870a26d8dd428e1f619d5ef0a">  138</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ad52ba45870a26d8dd428e1f619d5ef0a">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::removeLeaf</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_x_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_y_arg, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> idx_z_arg)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="comment">// generate key</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="comment">// free voxel at key</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordflow">return</span> (this-&gt;removeLeaf (key));</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a55fc9b096111612ae15ad340fa27bd6c">  149</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a55fc9b096111612ae15ad340fa27bd6c">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::deleteTree</a> ()</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keywordflow">if</span> (root_node_)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      {</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="comment">// reset octree</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        deleteBranch (*root_node_);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        leaf_count_ = 0;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        branch_count_ = 1;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        depth_mask_ = 0;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        octree_depth_ = 0;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2574de24826df36a1071efdf41843e55">  166</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2574de24826df36a1071efdf41843e55">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::switchBuffers</a> ()</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keywordflow">if</span> (tree_dirty_flag_)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      {</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="comment">// make sure that all unused branch nodes from previous buffer are deleted</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        treeCleanUpRecursive (root_node_);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="comment">// switch butter selector</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      buffer_selector_ = !buffer_selector_;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="comment">// reset flags</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      tree_dirty_flag_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      leaf_count_ = 0;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      branch_count_ = 1;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="comment">// we can safely remove children references of root node</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      {</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        root_node_-&gt;setChildPtr(buffer_selector_, child_idx, 0);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4ab50312544738fbcb2dcec19be7d1c0">  192</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4ab50312544738fbcb2dcec19be7d1c0">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::serializeTree</a> (std::vector&lt;char&gt;&amp; binary_tree_out_arg,</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                                                                     <span class="keywordtype">bool</span> do_XOR_encoding_arg)</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="comment">// clear binary vector</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      binary_tree_out_arg.clear ();</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      binary_tree_out_arg.reserve (this-&gt;branch_count_);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      serializeTreeRecursive (root_node_, new_key, &amp;binary_tree_out_arg, 0, do_XOR_encoding_arg, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="comment">// serializeTreeRecursive cleans-up unused octree nodes in previous octree</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a1888556d69a9ec1bf8ac50f722c62be1">  209</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4ab50312544738fbcb2dcec19be7d1c0">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::serializeTree</a> (std::vector&lt;char&gt;&amp; binary_tree_out_arg,</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                                                                     std::vector&lt;LeafContainerT*&gt;&amp; leaf_container_vector_arg,</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                                                                     <span class="keywordtype">bool</span> do_XOR_encoding_arg)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="comment">// clear output vectors</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      binary_tree_out_arg.clear ();</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      leaf_container_vector_arg.clear ();</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      leaf_container_vector_arg.reserve (leaf_count_);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      binary_tree_out_arg.reserve (this-&gt;branch_count_);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      serializeTreeRecursive (root_node_, new_key, &amp;binary_tree_out_arg, &amp;leaf_container_vector_arg, do_XOR_encoding_arg, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="comment">// serializeTreeRecursive cleans-up unused octree nodes in previous octree</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    }</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a167942a5a0601a8cc1c15fcf26232acf">  230</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a167942a5a0601a8cc1c15fcf26232acf">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::serializeLeafs</a> (std::vector&lt;LeafContainerT*&gt;&amp; leaf_container_vector_arg)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="comment">// clear output vector</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      leaf_container_vector_arg.clear ();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      leaf_container_vector_arg.reserve (leaf_count_);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      serializeTreeRecursive (root_node_, new_key, 0, &amp;leaf_container_vector_arg, <span class="keyword">false</span>, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="comment">// serializeLeafsRecursive cleans-up unused octree nodes in previous octree</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a72c3d318307f1bbffc131076f45733a6">  247</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a72c3d318307f1bbffc131076f45733a6">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::deserializeTree</a> (std::vector&lt;char&gt;&amp; binary_tree_in_arg,</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;                                                                       <span class="keywordtype">bool</span> do_XOR_decoding_arg)</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="comment">// we will rebuild an octree -&gt; reset leafCount</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      leaf_count_ = 0;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="comment">// iterator for binary tree structure vector</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      std::vector&lt;char&gt;::const_iterator binary_tree_in_it = binary_tree_in_arg.begin ();</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      std::vector&lt;char&gt;::const_iterator binary_tree_in_it_end = binary_tree_in_arg.end ();</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      deserializeTreeRecursive (root_node_, depth_mask_, new_key,</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;          binary_tree_in_it, binary_tree_in_it_end, 0, 0, <span class="keyword">false</span>,</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          do_XOR_decoding_arg);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="comment">// we modified the octree structure -&gt; clean-up/tree-reset might be required</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    }</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a9f19cf482b97afa875ef521d51b41e4a">  269</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a72c3d318307f1bbffc131076f45733a6">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::deserializeTree</a> (std::vector&lt;char&gt;&amp; binary_tree_in_arg,</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;                                                                       std::vector&lt;LeafContainerT*&gt;&amp; leaf_container_vector_arg,</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;                                                                       <span class="keywordtype">bool</span> do_XOR_decoding_arg)</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="comment">// set data iterator to first element</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::const_iterator leaf_container_vector_it = leaf_container_vector_arg.begin ();</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="comment">// set data iterator to last element</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::const_iterator leaf_container_vector_it_end = leaf_container_vector_arg.end ();</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      <span class="comment">// we will rebuild an octree -&gt; reset leafCount</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      leaf_count_ = 0;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="comment">// iterator for binary tree structure vector</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      std::vector&lt;char&gt;::const_iterator binary_tree_in_it = binary_tree_in_arg.begin ();</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      std::vector&lt;char&gt;::const_iterator binary_tree_in_it_end = binary_tree_in_arg.end ();</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      deserializeTreeRecursive (root_node_,</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                                depth_mask_,</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                                new_key,</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                                binary_tree_in_it,</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                                binary_tree_in_it_end,</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;                                &amp;leaf_container_vector_it,</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;                                &amp;leaf_container_vector_it_end,</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                                <span class="keyword">false</span>,</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                                do_XOR_decoding_arg);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <span class="comment">// we modified the octree structure -&gt; clean-up/tree-reset might be required</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#acb0d130018cef2b721638ff2d6d49f5f">  306</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#acb0d130018cef2b721638ff2d6d49f5f">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::serializeNewLeafs</a> (std::vector&lt;LeafContainerT*&gt;&amp; leaf_container_vector_arg)</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> new_key;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      <span class="comment">// clear output vector</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      leaf_container_vector_arg.clear ();</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      leaf_container_vector_arg.reserve (leaf_count_);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      serializeTreeRecursive (root_node_, new_key, 0, &amp;leaf_container_vector_arg, <span class="keyword">false</span>, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="comment">// serializeLeafsRecursive cleans-up unused octree nodes in previous octree buffer</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    }</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00323"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aa8d912802822ab405316bdfb7b9bf05d">  323</a></span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aa8d912802822ab405316bdfb7b9bf05d">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::createLeafRecursive</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;                                                                             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask_arg,</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;                                                                             <a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>* branch_arg,</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;                                                                             <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>*&amp; return_leaf_arg,</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;                                                                             <a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>*&amp; parent_of_leaf_arg,</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;                                                                             <span class="keywordtype">bool</span> branch_reset_arg)</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      {</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        <span class="comment">// index to branch child</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="comment">// branch reset -&gt; this branch has been taken from previous buffer</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="keywordflow">if</span> (branch_reset_arg)</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      {</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        <span class="comment">// we can safely remove children references</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        {</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#addb2ce11a6f03f4f77081086d698ce5f">setChildPtr</a>(buffer_selector_, child_idx, 0);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        }</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <span class="comment">// find branch child from key</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      child_idx = key_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_key.html#aa5e316c2185196c871a510f893b19717">getChildIdxWithDepthMask</a> (depth_mask_arg);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="keywordflow">if</span> (depth_mask_arg &gt; 1)</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      {</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>* child_branch;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keywordtype">bool</span> doNodeReset;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        doNodeReset = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        <span class="comment">// if required branch does not exist</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        <span class="keywordflow">if</span> (!branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a>(buffer_selector_, child_idx))</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        {</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;          <span class="comment">// check if we find a branch node reference in previous buffer</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;          <span class="keywordflow">if</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a>(!buffer_selector_, child_idx))</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* child_node = branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(!buffer_selector_,child_idx);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;            <span class="keywordflow">if</span> (child_node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a>()==BRANCH_NODE) {</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;              child_branch = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;              branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#addb2ce11a6f03f4f77081086d698ce5f">setChildPtr</a>(buffer_selector_, child_idx, child_node);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;            } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;              <span class="comment">// depth has changed.. child in preceeding buffer is a leaf node.</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;              deleteBranchChild (*branch_arg, !buffer_selector_, child_idx);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;              child_branch = createBranchChild (*branch_arg, child_idx);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;            }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;            <span class="comment">// take child branch from previous buffer</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;            doNodeReset = <span class="keyword">true</span>; <span class="comment">// reset the branch pointer array of stolen child node</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;          }</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;          {</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;            <span class="comment">// if required branch does not exist -&gt; create it</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;            child_branch = createBranchChild (*branch_arg, child_idx);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;          }</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;          branch_count_++;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        }</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        <span class="comment">// required branch node already exists - use it</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;          child_branch = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>*<span class="keyword">&gt;</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(buffer_selector_,child_idx));</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        <span class="keywordflow">return</span> createLeafRecursive (key_arg, depth_mask_arg / 2, child_branch, return_leaf_arg, parent_of_leaf_arg, doNodeReset);</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      }</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      {</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        <span class="comment">// branch childs are leaf nodes</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>* child_leaf;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="keywordflow">if</span> (!branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a>(buffer_selector_, child_idx))</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        {</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;          <span class="comment">// leaf node at child_idx does not exist</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;          </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          <span class="comment">// check if we can take copy a reference from previous buffer</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;          <span class="keywordflow">if</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a>(!buffer_selector_, child_idx))</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;          {</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> * child_node = branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(!buffer_selector_,child_idx);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;            <span class="keywordflow">if</span> (child_node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a> () == LEAF_NODE)</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;            {</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;              child_leaf = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;              branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#addb2ce11a6f03f4f77081086d698ce5f">setChildPtr</a>(buffer_selector_, child_idx, child_node);</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;            } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;              <span class="comment">// depth has changed.. child in preceeding buffer is a leaf node.</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;              deleteBranchChild (*branch_arg, !buffer_selector_, child_idx);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;              child_leaf = createLeafChild (*branch_arg, child_idx);</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;            }</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;            leaf_count_++;  </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;          }</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;          {</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;            <span class="comment">// if required leaf does not exist -&gt; create it</span></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;            child_leaf = createLeafChild (*branch_arg, child_idx);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;            leaf_count_++;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;          }</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;          </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;          <span class="comment">// return leaf node</span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;          return_leaf_arg = child_leaf;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;          parent_of_leaf_arg = branch_arg;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        {</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;          <span class="comment">// leaf node already exist</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;          return_leaf_arg = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>*<span class="keyword">&gt;</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(buffer_selector_,child_idx));;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;          parent_of_leaf_arg = branch_arg;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        }</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      }</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;      <span class="keywordflow">return</span> depth_mask_arg;</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    }</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160; </div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00439"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae4ce238fbace7c54d8df99ca3f679f35">  439</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae4ce238fbace7c54d8df99ca3f679f35">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::findLeafRecursive</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;                                                                         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask_arg,</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;                                                                         <a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>* branch_arg,</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;                                                                         LeafContainerT*&amp; result_arg)<span class="keyword"> const</span></div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      <span class="comment">// return leaf node</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      <span class="comment">// find branch child from key</span></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      child_idx = key_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_key.html#aa5e316c2185196c871a510f893b19717">getChildIdxWithDepthMask</a> (depth_mask_arg);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      <span class="keywordflow">if</span> (depth_mask_arg &gt; 1)</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      {</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>* child_branch;</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        child_branch = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>*<span class="keyword">&gt;</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(buffer_selector_,child_idx));</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        <span class="keywordflow">if</span> (child_branch)</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;          <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;          findLeafRecursive (key_arg, depth_mask_arg / 2, child_branch, result_arg);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      }</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      {</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        <span class="comment">// we reached leaf node level</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        <span class="keywordflow">if</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a>(buffer_selector_, child_idx))</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        {</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;          <span class="comment">// return existing leaf node</span></div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>* leaf_node = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>*<span class="keyword">&gt;</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(buffer_selector_,child_idx));</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;          result_arg = leaf_node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a4a06d153287c5b146865fca72662e3e1">getContainerPtr</a>();;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        }</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;      }    </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    }</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#af0607f6e0f4619808849777eb6586c6e">  474</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#af0607f6e0f4619808849777eb6586c6e">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::deleteLeafRecursive</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;                                                                           <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask_arg,</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;                                                                           <a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>* branch_arg)</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;    {</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;      <span class="comment">// index to branch child</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      <span class="comment">// indicates if branch is empty and can be safely removed</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      <span class="keywordtype">bool</span> bNoChilds;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      <span class="comment">// find branch child from key</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      child_idx = key_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_key.html#aa5e316c2185196c871a510f893b19717">getChildIdxWithDepthMask</a> (depth_mask_arg);</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      <span class="keywordflow">if</span> (depth_mask_arg &gt; 1)</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;      {</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;        <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>* child_branch;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <span class="keywordtype">bool</span> bBranchOccupied;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        </div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        <span class="comment">// next branch child on our path through the tree</span></div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        child_branch = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>*<span class="keyword">&gt;</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(buffer_selector_,child_idx));</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        <span class="keywordflow">if</span> (child_branch)</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        {</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;          <span class="comment">// recursively explore the indexed child branch</span></div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;          bBranchOccupied = deleteLeafRecursive (key_arg, depth_mask_arg / 2, child_branch);</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;          </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;          <span class="keywordflow">if</span> (!bBranchOccupied)</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;          {</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;            <span class="comment">// child branch does not own any sub-child nodes anymore -&gt; delete child branch</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;            deleteBranchChild (*branch_arg, buffer_selector_, child_idx);</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;            branch_count_--;</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;          }</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;        }</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      }</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      {</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;        <span class="comment">// our child is a leaf node -&gt; delete it</span></div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;        deleteBranchChild (*branch_arg, buffer_selector_, child_idx);</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        leaf_count_--;</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      }</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      <span class="comment">// check if current branch still owns childs</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;      bNoChilds = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;      <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      {</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;        bNoChilds = branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a>(buffer_selector_, child_idx);</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;        <span class="keywordflow">if</span> (bNoChilds)</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      }</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      <span class="comment">// return true if current branch can be deleted</span></div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      <span class="keywordflow">return</span> (bNoChilds);</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    }</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html">Octree2BufBase</a>&lt;</div>
<div class="line"><a name="l00530"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6cf255789af15b3766c7e5f327bcbb43">  530</a></span>&#160;        LeafContainerT, BranchContainerT&gt;::serializeTreeRecursive (<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>* branch_arg,</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;                                                                   <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;                                                                   std::vector&lt;char&gt;* binary_tree_out_arg,</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;                                                                   <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;* leaf_container_vector_arg,</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;                                                                   <span class="keywordtype">bool</span> do_XOR_encoding_arg,</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;                                                                   <span class="keywordtype">bool</span> new_leafs_filter_arg)</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    {</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      <span class="comment">// bit pattern</span></div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      <span class="keywordtype">char</span> branch_bit_pattern_curr_buffer;</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      <span class="keywordtype">char</span> branch_bit_pattern_prev_buffer;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      <span class="keywordtype">char</span> node_XOR_bit_pattern;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      <span class="comment">// occupancy bit patterns of branch node  (current and previous octree buffer)</span></div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      branch_bit_pattern_curr_buffer = getBranchBitPattern (*branch_arg, buffer_selector_);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;      branch_bit_pattern_prev_buffer = getBranchBitPattern (*branch_arg, !buffer_selector_);</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160; </div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      <span class="comment">// XOR of current and previous occupancy bit patterns</span></div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      node_XOR_bit_pattern = branch_bit_pattern_curr_buffer ^ branch_bit_pattern_prev_buffer;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;      <span class="keywordflow">if</span> (binary_tree_out_arg)</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;      {</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        <span class="keywordflow">if</span> (do_XOR_encoding_arg)</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;        {</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;          <span class="comment">// write XOR bit pattern to output vector</span></div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;          binary_tree_out_arg-&gt;push_back (node_XOR_bit_pattern);</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        }</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;        {</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;          <span class="comment">// write bit pattern of current buffer to output vector</span></div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;          binary_tree_out_arg-&gt;push_back (branch_bit_pattern_curr_buffer);</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;        }</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;      }</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160; </div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;      <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      {</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;        <span class="keywordflow">if</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a>(buffer_selector_, child_idx))</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        {</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;          <span class="comment">// add current branch voxel to key</span></div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;          key_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_key.html#acd563175ce0e72966a931bd0ddd351c8">pushBranch</a>(child_idx);</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;          </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *child_node = branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(buffer_selector_,child_idx);</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;          </div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;          <span class="keywordflow">switch</span> (child_node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a> ())</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;          {</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;            <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;            {</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;                <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;                serializeTreeRecursive (<span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>*<span class="keyword">&gt;</span> (child_node), key_arg, binary_tree_out_arg,</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;                                        leaf_container_vector_arg, do_XOR_encoding_arg, new_leafs_filter_arg);</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;            }</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;            <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;            {</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>* child_leaf = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160; </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;              <span class="keywordflow">if</span> (new_leafs_filter_arg)</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;                {</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;                  <span class="keywordflow">if</span> (!branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a> (!buffer_selector_, child_idx))</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;                  {</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;                    <span class="keywordflow">if</span> (leaf_container_vector_arg)</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;                      leaf_container_vector_arg-&gt;push_back(child_leaf-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a4a06d153287c5b146865fca72662e3e1">getContainerPtr</a>());</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160; </div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;                    serializeTreeCallback (**child_leaf, key_arg);</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;                  }</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;              } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;              {</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160; </div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;                <span class="keywordflow">if</span> (leaf_container_vector_arg)</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;                  leaf_container_vector_arg-&gt;push_back(child_leaf-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html#a4a06d153287c5b146865fca72662e3e1">getContainerPtr</a>());</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160; </div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;                serializeTreeCallback (**child_leaf, key_arg);</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;              }</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160; </div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;            }</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;            <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;          }</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160; </div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;          <span class="comment">// pop current branch voxel from key</span></div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;          key_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_key.html#a03f22cc621f65f27059ccc4df4d3137d">popBranch</a>();</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;        }</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a> (!buffer_selector_, child_idx))</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;        {</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;          <span class="comment">// delete branch, free memory</span></div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;          deleteBranchChild (*branch_arg, !buffer_selector_, child_idx);</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160; </div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;        }</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160; </div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;      }</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;    }</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160; </div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160; </div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00629"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ab8e6e1bf5b3a7362b8588742f204ffda">  629</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ab8e6e1bf5b3a7362b8588742f204ffda">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::deserializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>* branch_arg,</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> depth_mask_arg, <a class="code" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&amp; key_arg,</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;        <span class="keyword">typename</span> std::vector&lt;char&gt;::const_iterator&amp; binaryTreeIT_arg,</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;        <span class="keyword">typename</span> std::vector&lt;char&gt;::const_iterator&amp; binaryTreeIT_End_arg,</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;        <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::const_iterator* dataVectorIterator_arg,</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;        <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::const_iterator* dataVectorEndIterator_arg,</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;        <span class="keywordtype">bool</span> branch_reset_arg, <span class="keywordtype">bool</span> do_XOR_decoding_arg)</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    {</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;      <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160; </div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;      <span class="comment">// node bits</span></div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;      <span class="keywordtype">char</span> nodeBits;</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;      <span class="keywordtype">char</span> recoveredNodeBits;</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160; </div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;      <span class="comment">// branch reset -&gt; this branch has been taken from previous buffer</span></div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;      <span class="keywordflow">if</span> (branch_reset_arg)</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;      {</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;        <span class="comment">// we can safely remove children references</span></div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;        <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;        {</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;          branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#addb2ce11a6f03f4f77081086d698ce5f">setChildPtr</a>(buffer_selector_, child_idx, 0);</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;        }  </div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;      }</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160; </div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;      <span class="keywordflow">if</span> (binaryTreeIT_arg!=binaryTreeIT_End_arg) {</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;        <span class="comment">// read branch occupancy bit pattern from vector</span></div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;        nodeBits = *binaryTreeIT_arg++;</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160; </div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160; </div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;        <span class="comment">// recover branch occupancy bit pattern</span></div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;        <span class="keywordflow">if</span> (do_XOR_decoding_arg)</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;        {</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;          recoveredNodeBits = getBranchBitPattern (*branch_arg, !buffer_selector_) ^ nodeBits;</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;        }</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;        {</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;          recoveredNodeBits = nodeBits;</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;        }</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160; </div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;        <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;        <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;        {</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;          <span class="comment">// if occupancy bit for child_idx is set..</span></div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;          <span class="keywordflow">if</span> (recoveredNodeBits &amp; (1 &lt;&lt; child_idx))</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;          {</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;            <span class="comment">// add current branch voxel to key</span></div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;            key_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_key.html#acd563175ce0e72966a931bd0ddd351c8">pushBranch</a>(child_idx);</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160; </div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;            <span class="keywordtype">bool</span> doNodeReset;</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;            </div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;            doNodeReset = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;            </div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;            <span class="keywordflow">if</span> (depth_mask_arg &gt; 1)</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;            {</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;              <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160; </div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>* child_branch;</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160; </div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;              <span class="comment">// check if we find a branch node reference in previous buffer</span></div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;              <span class="keywordflow">if</span> (!branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a>(buffer_selector_, child_idx))</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;              {</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160; </div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;                <span class="keywordflow">if</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a>(!buffer_selector_, child_idx))</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;                {</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;                  <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* child_node = branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(!buffer_selector_,child_idx);</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160; </div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;                  <span class="keywordflow">if</span> (child_node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a>()==BRANCH_NODE) {</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;                    child_branch = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;                    branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#addb2ce11a6f03f4f77081086d698ce5f">setChildPtr</a>(buffer_selector_, child_idx, child_node);</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;                  } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;                    <span class="comment">// depth has changed.. child in preceeding buffer is a leaf node.</span></div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;                    deleteBranchChild (*branch_arg, !buffer_selector_, child_idx);</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;                    child_branch = createBranchChild (*branch_arg, child_idx);</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;                  }</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160; </div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;                  <span class="comment">// take child branch from previous buffer</span></div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;                  doNodeReset = <span class="keyword">true</span>; <span class="comment">// reset the branch pointer array of stolen child node</span></div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;                }</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;                <span class="keywordflow">else</span></div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;                {</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;                  <span class="comment">// if required branch does not exist -&gt; create it</span></div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;                  child_branch = createBranchChild (*branch_arg, child_idx);</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;                }</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160; </div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;                branch_count_++;</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160; </div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;              }</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;              {</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;                <span class="comment">// required branch node already exists - use it</span></div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;                child_branch = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>*<span class="keyword">&gt;</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(buffer_selector_,child_idx));</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;              }</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160; </div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;              <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;              deserializeTreeRecursive (child_branch, depth_mask_arg / 2, key_arg,</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;                  binaryTreeIT_arg, binaryTreeIT_End_arg,</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;                  dataVectorIterator_arg, dataVectorEndIterator_arg,</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;                  doNodeReset, do_XOR_decoding_arg);</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160; </div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;            }</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;            {</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;              <span class="comment">// branch childs are leaf nodes</span></div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>* child_leaf;</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;              </div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;              <span class="comment">// check if we can take copy a reference pointer from previous buffer</span></div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;              <span class="keywordflow">if</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a>(!buffer_selector_, child_idx))</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;              {</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;                <span class="comment">// take child leaf node from previous buffer</span></div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* child_node = branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(!buffer_selector_,child_idx);</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;                <span class="keywordflow">if</span> (child_node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a>()==LEAF_NODE) {</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;                  child_leaf = <span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;                  branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#addb2ce11a6f03f4f77081086d698ce5f">setChildPtr</a>(buffer_selector_, child_idx, child_node);</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;                } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;                  <span class="comment">// depth has changed.. child in preceeding buffer is a leaf node.</span></div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;                  deleteBranchChild (*branch_arg, !buffer_selector_, child_idx);</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;                  child_leaf = createLeafChild (*branch_arg, child_idx);</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;                }</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;              }</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;              {</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;                <span class="comment">// if required leaf does not exist -&gt; create it</span></div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;                child_leaf = createLeafChild (*branch_arg, child_idx);</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;              }</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160; </div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;              <span class="comment">// we reached leaf node level</span></div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160; </div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;              <span class="keywordflow">if</span> (dataVectorIterator_arg</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;                  &amp;&amp; (*dataVectorIterator_arg != *dataVectorEndIterator_arg))</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;              {</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;                LeafContainerT&amp; container = **child_leaf;</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;                container =  ***dataVectorIterator_arg;</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;                ++*dataVectorIterator_arg;</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;              }</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160; </div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;              leaf_count_++;</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160; </div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;              <span class="comment">// execute deserialization callback</span></div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;              deserializeTreeCallback (**child_leaf, key_arg);</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160; </div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;            }</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160; </div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;            <span class="comment">// pop current branch voxel from key</span></div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;            key_arg.<a class="code" href="classpcl_1_1octree_1_1_octree_key.html#a03f22cc621f65f27059ccc4df4d3137d">popBranch</a>();</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;          }</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a> (!buffer_selector_, child_idx))</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;          {</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;            <span class="comment">// remove old branch pointer information in current branch</span></div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;            branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#addb2ce11a6f03f4f77081086d698ce5f">setChildPtr</a>(buffer_selector_, child_idx, 0);</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;            </div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;            <span class="comment">// remove unused branches in previous buffer</span></div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;            deleteBranchChild (*branch_arg, !buffer_selector_, child_idx);</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;          }</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;        }</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;      }</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160; </div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;    }</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;    </div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> LeafContainerT, <span class="keyword">typename</span> BranchContainerT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00790"></a><span class="lineno"><a class="line" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4b13e62a99ccbae80249f3202bdcf19e">  790</a></span>&#160;    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4b13e62a99ccbae80249f3202bdcf19e">Octree2BufBase&lt;LeafContainerT, BranchContainerT&gt;::treeCleanUpRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>* branch_arg)</div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;    {</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;      <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160; </div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;      <span class="comment">// bit pattern</span></div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;      <span class="keywordtype">char</span> occupied_children_bit_pattern_prev_buffer;</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;      <span class="keywordtype">char</span> node_XOR_bit_pattern;</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;      <span class="keywordtype">char</span> unused_branches_bit_pattern;</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160; </div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;      <span class="comment">// occupancy bit pattern of branch node  (previous octree buffer)</span></div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;      occupied_children_bit_pattern_prev_buffer = getBranchBitPattern (*branch_arg, !buffer_selector_);</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160; </div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;      <span class="comment">// XOR of current and previous occupancy bit patterns</span></div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;      node_XOR_bit_pattern = getBranchXORBitPattern (*branch_arg);</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160; </div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;      <span class="comment">// bit pattern indicating unused octree nodes in previous branch</span></div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;      unused_branches_bit_pattern = node_XOR_bit_pattern &amp; occupied_children_bit_pattern_prev_buffer;</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160; </div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;      <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;      <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;      {</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;        <span class="keywordflow">if</span> (branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">hasChild</a>(buffer_selector_, child_idx))</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;        {</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *child_node = branch_arg-&gt;<a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">getChildPtr</a>(buffer_selector_,child_idx);</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;          </div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;          <span class="keywordflow">switch</span> (child_node-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">getNodeType</a> ())</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;          {</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;            <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;            {</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;              <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;              treeCleanUpRecursive (<span class="keyword">static_cast&lt;</span><a class="code" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>*<span class="keyword">&gt;</span> (child_node));</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;            }</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;            <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;              <span class="comment">// leaf level - nothing to do..</span></div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;            <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;          }</div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;        }</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160; </div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;          <span class="comment">// check for unused branches in previous buffer</span></div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;        <span class="keywordflow">if</span> (unused_branches_bit_pattern &amp; (1 &lt;&lt; child_idx))</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;        {</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;          <span class="comment">// delete branch, free memory</span></div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;          deleteBranchChild (*branch_arg, !buffer_selector_, child_idx);</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;        }  </div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;      }</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;    }</div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;  }</div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;}</div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160; </div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_Octree2BufBase(T) template class PCL_EXPORTS pcl::octree::Octree2BufBase&lt;T&gt;;</span></div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160; </div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_buffered_branch_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_buffered_branch_node.html">pcl::octree::BufferedBranchNode</a></div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_buffered_branch_node_html_addb2ce11a6f03f4f77081086d698ce5f"><div class="ttname"><a href="classpcl_1_1octree_1_1_buffered_branch_node.html#addb2ce11a6f03f4f77081086d698ce5f">pcl::octree::BufferedBranchNode::setChildPtr</a></div><div class="ttdeci">void setChildPtr(unsigned char buffer_arg, unsigned char index_arg, OctreeNode *newNode_arg)</div><div class="ttdoc">Set child pointer in current branch node</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_buffered_branch_node_html_ae60a6555ab64aa6a7150292fc2927afd"><div class="ttname"><a href="classpcl_1_1octree_1_1_buffered_branch_node.html#ae60a6555ab64aa6a7150292fc2927afd">pcl::octree::BufferedBranchNode::getChildPtr</a></div><div class="ttdeci">OctreeNode * getChildPtr(unsigned char buffer_arg, unsigned char index_arg) const</div><div class="ttdoc">Get child pointer in current branch node</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:108</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_buffered_branch_node_html_afe00cec1cc440cc539dca382bd8d63af"><div class="ttname"><a href="classpcl_1_1octree_1_1_buffered_branch_node.html#afe00cec1cc440cc539dca382bd8d63af">pcl::octree::BufferedBranchNode::hasChild</a></div><div class="ttdeci">bool hasChild(unsigned char buffer_arg, unsigned char index_arg) const</div><div class="ttdoc">Check if branch is pointing to a particular child node</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a></div><div class="ttdoc">Octree double buffer class</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:226</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a167942a5a0601a8cc1c15fcf26232acf"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a167942a5a0601a8cc1c15fcf26232acf">pcl::octree::Octree2BufBase::serializeLeafs</a></div><div class="ttdeci">void serializeLeafs(std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</div><div class="ttdoc">Outputs a vector of all DataT elements that are stored within the octree leaf nodes.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:230</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a2574de24826df36a1071efdf41843e55"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2574de24826df36a1071efdf41843e55">pcl::octree::Octree2BufBase::switchBuffers</a></div><div class="ttdeci">void switchBuffers()</div><div class="ttdoc">Switch buffers and reset current octree structure.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:166</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a2b59144bb291c178879513c2c5f5283c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2b59144bb291c178879513c2c5f5283c">pcl::octree::Octree2BufBase::createLeaf</a></div><div class="ttdeci">LeafContainerT * createLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:116</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a3e5834225c6ed85452fbad295497ffa5"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3e5834225c6ed85452fbad295497ffa5">pcl::octree::Octree2BufBase::findLeaf</a></div><div class="ttdeci">LeafContainerT * findLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:105</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a4ab50312544738fbcb2dcec19be7d1c0"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4ab50312544738fbcb2dcec19be7d1c0">pcl::octree::Octree2BufBase::serializeTree</a></div><div class="ttdeci">void serializeTree(std::vector&lt; char &gt; &amp;binary_tree_out_arg, bool do_XOR_encoding_arg=false)</div><div class="ttdoc">Serialize octree into a binary output vector describing its branch node structure.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:192</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a4b13e62a99ccbae80249f3202bdcf19e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4b13e62a99ccbae80249f3202bdcf19e">pcl::octree::Octree2BufBase::treeCleanUpRecursive</a></div><div class="ttdeci">void treeCleanUpRecursive(BranchNode *branch_arg)</div><div class="ttdoc">Recursively explore the octree and remove unused branch and leaf nodes</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:790</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a4bdd0fdf775f73746e15f15463051c07"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4bdd0fdf775f73746e15f15463051c07">pcl::octree::Octree2BufBase::existLeaf</a></div><div class="ttdeci">bool existLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const</div><div class="ttdoc">Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:127</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a55fc9b096111612ae15ad340fa27bd6c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a55fc9b096111612ae15ad340fa27bd6c">pcl::octree::Octree2BufBase::deleteTree</a></div><div class="ttdeci">void deleteTree()</div><div class="ttdoc">Delete the octree structure and its leaf nodes.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:149</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a70b703457f743d2cac00e30663c27bb1"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a70b703457f743d2cac00e30663c27bb1">pcl::octree::Octree2BufBase::setMaxVoxelIndex</a></div><div class="ttdeci">void setMaxVoxelIndex(unsigned int max_voxel_index_arg)</div><div class="ttdoc">Set the maximum amount of voxels per dimension.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:72</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a72c3d318307f1bbffc131076f45733a6"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a72c3d318307f1bbffc131076f45733a6">pcl::octree::Octree2BufBase::deserializeTree</a></div><div class="ttdeci">void deserializeTree(std::vector&lt; char &gt; &amp;binary_tree_in_arg, bool do_XOR_decoding_arg=false)</div><div class="ttdoc">Deserialize a binary octree description vector and create a corresponding octree structure....</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:247</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_aa8d912802822ab405316bdfb7b9bf05d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#aa8d912802822ab405316bdfb7b9bf05d">pcl::octree::Octree2BufBase::createLeafRecursive</a></div><div class="ttdeci">unsigned int createLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafNode *&amp;return_leaf_arg, BranchNode *&amp;parent_of_leaf_arg, bool branch_reset_arg=false)</div><div class="ttdoc">Create a leaf node at octree key. If leaf node does already exist, it is returned.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:323</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_aaca1aaba9d9413ecf37f66616ebf5ca2"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#aaca1aaba9d9413ecf37f66616ebf5ca2">pcl::octree::Octree2BufBase::setTreeDepth</a></div><div class="ttdeci">void setTreeDepth(unsigned int depth_arg)</div><div class="ttdoc">Set the maximum depth of the octree.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:89</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_ab8e6e1bf5b3a7362b8588742f204ffda"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#ab8e6e1bf5b3a7362b8588742f204ffda">pcl::octree::Octree2BufBase::deserializeTreeRecursive</a></div><div class="ttdeci">void deserializeTreeRecursive(BranchNode *branch_arg, unsigned int depth_mask_arg, OctreeKey &amp;key_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_in_it_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_in_it_end_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_end_arg, bool branch_reset_arg=false, bool do_XOR_decoding_arg=false)</div><div class="ttdoc">Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initializati...</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:629</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_acb0d130018cef2b721638ff2d6d49f5f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#acb0d130018cef2b721638ff2d6d49f5f">pcl::octree::Octree2BufBase::serializeNewLeafs</a></div><div class="ttdeci">void serializeNewLeafs(std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</div><div class="ttdoc">Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buff...</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:306</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_ad52ba45870a26d8dd428e1f619d5ef0a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#ad52ba45870a26d8dd428e1f619d5ef0a">pcl::octree::Octree2BufBase::removeLeaf</a></div><div class="ttdeci">void removeLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:138</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_ae4ce238fbace7c54d8df99ca3f679f35"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae4ce238fbace7c54d8df99ca3f679f35">pcl::octree::Octree2BufBase::findLeafRecursive</a></div><div class="ttdeci">void findLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&amp;result_arg) const</div><div class="ttdoc">Recursively search for a given leaf node and return a pointer.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:439</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_aeea7ecfd6ebe82e93d3c7bb869355502"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#aeea7ecfd6ebe82e93d3c7bb869355502">pcl::octree::Octree2BufBase::Octree2BufBase</a></div><div class="ttdeci">Octree2BufBase()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:48</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_af0607f6e0f4619808849777eb6586c6e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#af0607f6e0f4619808849777eb6586c6e">pcl::octree::Octree2BufBase::deleteLeafRecursive</a></div><div class="ttdeci">bool deleteLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg)</div><div class="ttdoc">Recursively search and delete leaf node</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:474</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_af38bf67eaa51c8bdfc3aafef8427bb43"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#af38bf67eaa51c8bdfc3aafef8427bb43">pcl::octree::Octree2BufBase::~Octree2BufBase</a></div><div class="ttdeci">virtual ~Octree2BufBase()</div><div class="ttdoc">Empty deconstructor.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:63</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html">pcl::octree::OctreeKey</a></div><div class="ttdoc">Octree key class</div><div class="ttdef"><b>Definition:</b> octree_key.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html_a03f22cc621f65f27059ccc4df4d3137d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html#a03f22cc621f65f27059ccc4df4d3137d">pcl::octree::OctreeKey::popBranch</a></div><div class="ttdeci">void popBranch()</div><div class="ttdoc">pop child node from octree key</div><div class="ttdef"><b>Definition:</b> octree_key.h:114</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html_aa5e316c2185196c871a510f893b19717"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html#aa5e316c2185196c871a510f893b19717">pcl::octree::OctreeKey::getChildIdxWithDepthMask</a></div><div class="ttdeci">unsigned char getChildIdxWithDepthMask(unsigned int depthMask) const</div><div class="ttdoc">get child node index using depthMask</div><div class="ttdef"><b>Definition:</b> octree_key.h:126</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_key_html_acd563175ce0e72966a931bd0ddd351c8"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_key.html#acd563175ce0e72966a931bd0ddd351c8">pcl::octree::OctreeKey::pushBranch</a></div><div class="ttdeci">void pushBranch(unsigned char childIndex)</div><div class="ttdoc">push a child node to the octree key</div><div class="ttdef"><b>Definition:</b> octree_key.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html">pcl::octree::OctreeLeafNode</a></div><div class="ttdoc">Abstract octree leaf class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:98</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_leaf_node_html_a4a06d153287c5b146865fca72662e3e1"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_leaf_node.html#a4a06d153287c5b146865fca72662e3e1">pcl::octree::OctreeLeafNode::getContainerPtr</a></div><div class="ttdeci">const ContainerT * getContainerPtr() const</div><div class="ttdoc">Get const pointer to container</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html">pcl::octree::OctreeNode</a></div><div class="ttdoc">Abstract octree node class</div><div class="ttdef"><b>Definition:</b> octree_nodes.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree_node_html_a5b8206e9608369db7d5c21d905d03e09"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree_node.html#a5b8206e9608369db7d5c21d905d03e09">pcl::octree::OctreeNode::getNodeType</a></div><div class="ttdeci">virtual node_type_t getNodeType() const =0</div><div class="ttdoc">Pure virtual method for receiving the type of octree node (branch or leaf)</div></div>
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